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In this paper, a novel gait assessment system based on measures of gait variability reflected through the variability of shapes of gait cycles trajectories is proposed. The presented gait assessment system is based on SVM (support vector machine) classifier and on gait variability-based features calculated from the hip and knee joint angle trajectories recorded using wearable IMUs during walking trials...
The main challenges of designing devices for paraplegic walking can be summarized into three groups, stability and comfort, high efficiency or low energy consumption, dimensions and weight. A new economical device for people with paraplegia which tackles all problems of the three groups is introduced in this paper. The main idea of this device is based on HALO mechanism. HALO is compact passive medial...
Lower limb exoskeletons are being used to assist people with movement disorders during activities of daily living or rehabilitation. However, providing a natural interface that automatically adapts to the patient's movement limitations remains an open challenge. In this paper, we present a control implementation that combines a compliant actuator technology with the concept of tacit learning to improve...
In this paper, we presented a low cost assistive device of an exoskeleton robot, to assist the lower limb muscle by following the gait pattern generation. The paper presents the technique how to duplicate the natural gait motion pattern based robotic platform from the neutral person motion as data pattern generation, to control the positioning of foot trajectory by following the data pattern generation...
Human bodies and movements exhibit inherent symmetry. However, an important class of everyday movements, such as walking, does not maintain symmetry at every time instance. The symmetry in these movements is a spatiotemporal glide-reflection symmetry. The ability to measure this type of symmetry will provide us opportunities for various computer-aided applications including health monitoring, rehabilitation,...
This work is concerned with the robot individuality generation in action control. In the near future autonomous robots will plan and practice actions according to the code of conduct they generate. It is important to investigate how a robot's personality or individual character will form and how to create a desirable one. When only the task objective is given, the control of a complex robot action...
Passive prosthetic feet are not able to provide non-amputee kinematics and kinetics for the ankle joint. Persons with amputations show reduced interlimb symmetry, slower walking speeds, and increased walking effort. To improve ankle range of motion and push off, various powered prosthetic feet were introduced. This feasibility study analyzed if predefined motor reference trajectories can be used to...
Rehabilitation interventions involving powered, wearable lower limb orthoses that can provide high-challenging locomotor tasks for repetitive training sessions, mainly when assist-as-needed strategies, such as adaptive impedance control, are designed. In this study, the adaptive behavior was ensured by software control of the robotic stiffness involved in the human-knee orthosis interaction in function...
In this paper, we introduce a new scanning technique for detecting landmines and unexploded ordnance (UXO). The manipulator arm carried by a hexapod robot is capable of scanning rough terrain using a typical mine detector. To speed up the landmine detection and marking, both scanning and moving forward will be done simultaneously. The controller will perform two tasks. The first task is to keep the...
Isolated grid-connected inverters are typically constructed of two stages, namely a voltage-source inverter stage and an isolated bidirectional dc-dc converter stage. Recently, two dual-bridge isolated series resonant dc-dc converters are used to synthesize segments of the line current and reconstruct the complete sinusoidal line currents using a three-phase unfolder. The unfolder technique synthesizes...
In this paper, we present a control method for bipedal robotic walking based on insights we obtain from simple models. Inspired by the virtual pendulum (VP) concept and the spring-mass walking models, we propose a force direction control method to redirect the axial force of a compliant leg in order for walking with upright trunk. We first consider a dynamic simulation of a simple planar walking model...
With growing ageing population, acquiring joint measurements with sufficient accuracy for reliable gait assessment is essential. Additionally, the quality of gait analysis relies heavily on accurate feature selection and classification. Sensor-driven and one-camera optical motion capture systems are becoming increasingly popular in the scientific literature due to their portability and cost-efficacy...
A novel control method for the walking assistance device using predefined walking trajectory used to walk for the elderly or the patients with weak leg muscle on stairs from plain more safely and naturally is proposed in this paper. Two control method, torque control and impedance control, used per their usage purpose are introduced, and the later one is focused in this paper. To make sure the use...
Various studies have been conducted in the field of the development/deterioration of standing and walking ability. In standing and walking control strategy, the relationship linking visual/somatosensory/vestibular-system information and physical movement is important. Researchers have previously sought to evaluate attitude control based on human sensory information. The authors have also reported...
Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the...
The goal of this paper is to present a method for generating a basic trajectory for a planar bipedal robot with point feet. Since the mechanism is underactuated, partial feedback linearisation is used as a control method. In order to omit dynamic singularities only relative angles are used in the output function and the information about the absolute position of the robot is supplied using a virtual...
Trajectories planning and motion control of two-legged robots comprise many subtasks for different scenarios. In this paper the problem of stabilization of humanoid robot Darwin-OP in a standing position is considered. The robot balances on a rotating surface with unknown angle and speed. Estimation of surface inclination is provided by data of motor encoders and inertial measurements of accelerometer...
This paper is addressed to a problem of humanoid robot locomotion with the use of computer vision. The robot is 20 DoF Darwin OP equipped with video camera in its head and has built-in PC. To determine the desired path we use the algorithm of video processing based on image filtration within threshold values in HSV color model. Developed control system includes tracking system for the head with camera...
Mobility profiles of users play a crucial role in a wide range of context-aware computing and services. Travel mode choice, as a representative feature of mobility profiles, is one of the important components in travel demand and future planning of transportation systems. Transportation mode choice has been widely studied based on the random utility model and decision making methods which haven't...
Currently, the indoor navigation has attracted lots of attention and been considered as the most prominent technology in the future. However, the biggest obstacle that hinders the promotion of the indoor navigation is the cost of building floor map. In the unknown indoor environment, it will take a lot of resources to acquire or build indoor floor map. Therefore, in this paper, in order to reduce...
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